On inhomogeneous nonholonomic Bilimovich system

A Hybrid Controller for a Nonholonomic System

This note describes a logic-based hybrid controller for the well-studied nonholonomic integrator. Our controller provides Lyapunov stability and is designed so that the control signals remain uniformly bounded and have at most a nite number of discontinuities in any nite interval. In particular, no \chattering" occurs. Two alternative controllers, which use only partial state information, are a...

Nonholonomic Flows on Lie Groups

On Colissions in Nonholonomic Systems

We consider nonholonomic systems with elastic collisions and propose a concept of generalised solutions to Lagrange-d’Alembert equations. In the light of this concept we describe dynamics of the collisions. Several applications have been investigated. 1. The Description of the Problem Let us start from the following model example. There is a solid ball B of radius r and of mass m and let its ce...

How Can Brain Learn to Control a Nonholonomic System?

1CyberScience Center, Tohoku University, 6-6-05 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan 2Graduate School of Engineering, Tohoku University, 6-6-05 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan 3 Institute of Development, Aging and Cancer, Tohoku University, Seiryo-machi 4-1, Aoba-ku, Sendai 980-8575, Japan 4Faculty of Mechanical Engineering, Czech Technical University in Prague, Technic...

The Kinematic Car: Teaching Undergraduates Nonholonomic Mechanical System Basics

The project-based undergraduate J-term course Kinematics and Mechanism Design is described, both technically and from a pedagogy point of view. In this course students discovered the kinematic car, a classic example of a nonholonomic mechanical system that everyone can relate to; especially mechanical engineering students. Technical work entailed kinematic modeling using MATLAB/SIMULINK and CAD...